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Underwater Vehicle Modeling and Control Application to Ciscrea Robot

Rui Yang 1, 2 Irvin Probst 3 Ali Mansour 4 Li Ming 2 Benoit Clement 1
1 Lab-STICC_ENSTAB_CID_IHSEV ; OSM
STIC - Pôle STIC [Brest], Lab-STICC - Laboratoire des sciences et techniques de l'information, de la communication et de la connaissance
4 Lab-STICC_ENSTAB_CACS_COM ; IDM
STIC - Pôle STIC [Brest], Lab-STICC - Laboratoire des sciences et techniques de l'information, de la communication et de la connaissance
Abstract : Underwater competitions confirm that the PID yaw controller is less efficient for low mass Autonomous Underwater Vehicle (AUV) to handle the robot uncertainties. Nonlinear hydrodynamic behavior, waves, current, AUV bouyance change, motor calibration variations, sensor disturbance and battery variations perturbate the PID control behavior a lot. Therefore, in this paper we present a model based robust controller to control the yaw heading of AUV CISCREA. The modeling result was verified with experiments, and the robust controller was simulated.
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https://hal.archives-ouvertes.fr/hal-01119676
Contributor : Annick Billon-Coat <>
Submitted on : Monday, February 23, 2015 - 5:05:54 PM
Last modification on : Wednesday, June 24, 2020 - 4:19:23 PM

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  • HAL Id : hal-01119676, version 1

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Rui Yang, Irvin Probst, Ali Mansour, Li Ming, Benoit Clement. Underwater Vehicle Modeling and Control Application to Ciscrea Robot. MOQESM'14, ENSTA Bretagne, Oct 2014, Brest, France. ⟨hal-01119676⟩

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